Navigation and path search for roving robot using reinforcement learning

Shigeharu Miyata, Akira Yanou, Shin Takehara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The robot technology is rapidly developing in recent years. In connection with this technology, a robot activity is expected in various places or various environments. Therefore, this study describes 1) how the location of the destination of the robot in real world is measured based on the image obtained by one camera and 2) how the robot is navigated to the destination where a user points out on the display, on which the forward scene is imaged. The cases where there are some obstacles on the way to the destination are considered. The roving robot tries to find the shortest way to the destination based on the information on the locations of the obstacles and the destination by using the reinforcement learning, which is a hopeful candidate in the autonomous control technique. In addition, the measurement method for the indicated location based on the image is described, the simulation result for the path search by using the reinforcement leaning is shown, and the experiment result of navigation in real field is shown. Finally, the main conclusions are summarized .

Original languageEnglish
Title of host publicationProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
Pages480-485
Number of pages6
DOIs
Publication statusPublished - Sep 21 2009
Event2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 - Okayama, Japan
Duration: Mar 26 2009Mar 29 2009

Publication series

NameProceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009

Other

Other2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009
CountryJapan
CityOkayama
Period3/26/093/29/09

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

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  • Cite this

    Miyata, S., Yanou, A., & Takehara, S. (2009). Navigation and path search for roving robot using reinforcement learning. In Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009 (pp. 480-485). [4919323] (Proceedings of the 2009 IEEE International Conference on Networking, Sensing and Control, ICNSC 2009). https://doi.org/10.1109/ICNSC.2009.4919323